Three-dimensional force feedback handle restoring force control structure and method based on force/torque sensor
A technology of torque sensor and control structure, applied in the field of force feedback, to achieve the effect of easy calculation and control, and simple structure
Active Publication Date: 2019-07-30
SOUTHEAST UNIV
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Problems solved by technology
At the same time, it is required that the structure design of the force feedback device be reasonable, the characteristics of the force feedback output simulation device be good, and the precise measurement of the mechanism’s restoring force and the real-time adjustment of the restoring force output based on this pose a greater challenge. This has become the current research on force feedback technology. A major technical difficulty
Most of the existing force feedback technologies adopt force control open-loop control strategies, which are only adjusted for force feedback simulation equipment, and do not measure the current restoring force output in real time as feedback. It is not a stable control strategy in force feedback control.
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[0018] Such as figure 1 As shown, a three-dimensional force feedback handle restoring force control structure based on force / torque sensor, including: base plate 1, fixed frame on both sides 2, triangular rib 3, Y-axis motor 4, X-axis motor 5, inner frame 6, three-dimensional Force sensor 7, tension spring 8, Z-axis motor 9, counterweight mechanism 10, torsion spring 11, torque sensor 12 and handle handle 13; the bottom plate 1 and the fixing frames 2 on both sides are connected by screws, and triangular ribs 3 For reinforcement, the three together constitute the fixed base of the handle structure; the axes of X-axis motor 5 and Z-axis motor 9 intersect at one point and are connected with the center point of Y-axis motor 4 through bearings, and the two ends of Y-axis motor 4 are connected to the fixing frames on both sides 2 are connected by bearings; the mounting holes on the upper ends of the fixed mounts 2 on both sides are connected with the bearings between the inner fram...
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A structure for controlling restoring force of a three-dimensional force feedback handle based on a force / torque sensor, comprising a base plate (1), mounting brackets (2) on two sides, triangle plate ribs (3), a Y-axis motor (4), an X-axis motor (5), an inner frame (6), a three-dimensional force sensor (7), a tension spring (8), a Z-axis motor (9), a counterweight mechanism (10), a torsion spring (11), a torque sensor (12), and a handle knob (13). Also provided is a method for controlling restoring force of a three-dimensional force feedback handle based on a force / torque sensor, comprising the following steps: the three-dimensional force sensor (7) and the torque sensor (12) detect the restoring force of a force feedback handle in three directions in real time; use the difference between the expected restoring force input by a user currently and the current restoring force output of the handle at each degree of freedom as input of a PID controller; in the adjusting process, quickly adjust the current restoring force output by using all links to enable the restoring force output of the handle to track an expected input value; and if the current restoring force output value of the handle is consistent with the expected input value, the restoring force of the handle can be stably tracked and input. The control structure is simple, and the restoring force of the handle is controlled in real time and stably by means of PID adjustment.
Description
technical field [0001] The invention relates to the technical field of force feedback, in particular to a three-dimensional force feedback handle restoring force control structure and method based on a force / torque sensor. Background technique [0002] At present, the most representative research on hand force feedback technology is the CyberGrasp force feedback glove developed by CyberGlove. Produce force sensation. In addition, the Omni of SensAble Technologies, a typical arm force feedback device, is currently available. The arm force feedback device is mainly aimed at the movement of the arm. It has a large working range and can allow the operator's wrist joints, elbow joints, and shoulder joints to move in multiple degrees of freedom, and can provide The corresponding resistance can complete the effect of force sense on the human arm on the spot. [0003] The force feedback device in the prior art produces a force feedback effect for the operation of fingers or hands...
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IPC IPC(8): G01L5/22G05B11/42
CPCG01L5/22G05B11/42
Inventor 宋爱国林珍李会军曾洪徐宝国朱利丰
Owner SOUTHEAST UNIV